Catheter control system and graphical user interface

ABSTRACT

A remote workstation for the control of percutaneous intervention devices is provided. The remote workstation includes a control system for remotely and independently controlling at least two percutaneous intervention devices. The control system includes at least one input device to control the percutaneous intervention devices. The control system controls movement of at least one of the percutaneous intervention devices along at least two degrees of freedom. The remote workstation also includes a graphical user interface for displaying icons representative of the operational status of each of the percutaneous intervention devices.

CROSS-REFERENCE TO RELATED PATENT APPLICATIONS

This application is a continuation of prior international ApplicationNo. PCT/US09/055320, filed Aug. 28, 2009, which claims the benefit ofU.S. Provisional Application No. 61/093,242, filed Aug. 29, 2008, bothof which are incorporated herein by reference in their entireties.

BACKGROUND OF THE INVENTION

The present invention relates generally to the field of catheter systemsfor performing diagnostic and/or therapeutic procedures. The presentinvention relates specifically to catheter systems including a userinterface and/or workstation for controlling a robotic catheter system.

Vascular disease, and in particular cardiovascular disease, may betreated in a variety of ways. Surgery, such as cardiac bypass surgery,is one method for treating cardiovascular disease. However, undercertain circumstances, vascular disease may be treated with a catheterbased therapeutic procedure, such as angioplasty. Catheter basedtherapeutic procedures are generally considered less invasive thansurgery. If a patient shows symptoms indicative of cardiovasculardisease, an image of the patient's heart may be taken to aid in thediagnosis of the patient's disease and to determine an appropriatecourse of treatment. For certain disease types, such as atherosclerosis,the image of the patient's heart may show a lesion that is blocking oneor more coronary arteries. Following the diagnostic procedure, thepatient may undergo a catheter based therapeutic procedure. During onetype of therapeutic procedure, a catheter is inserted into the patient'sfemoral artery and moved through the patient's arterial system until thecatheter reaches the site of the lesion. In some procedures, thecatheter is equipped with a balloon or a stent that when deployed at thesite of a lesion allows for increased blood flow through the portion ofthe coronary artery that is affected by the lesion. In addition tocardiovascular disease, other disease may be treated withcatheterization procedures.

SUMMARY OF THE INVENTION

One embodiment of the invention relates to a remote workstation for thecontrol of percutaneous intervention devices. The remote workstationincludes a control system for remotely and independently controlling atleast two percutaneous intervention devices. The control system includesat least one input device to control the percutaneous interventiondevices. The control system controls movement of at least one of thepercutaneous intervention devices along at least two degrees of freedom.The remote workstation also includes a graphical user interface fordisplaying icons representative of the operational status of each of thepercutaneous intervention devices.

Another embodiment of the invention relates to a remote workstation forthe control of percutaneous intervention devices to perform a catheterbased medical procedure on a patient, the remote workstation. The remoteworkstation includes at least one input device operatively coupled tothe control system and a control system for remotely and independentlycontrolling at least two percutaneous intervention devices. The controlsystem receives at least one user input from the at least one inputdevice to control the percutaneous intervention devices, and the controlsystem controls movement of the percutaneous intervention devices alongat least two degrees of freedom. The remote workstation also includes agraphical user interface for displaying a first set of icons and asecond set of icons. The first set of icons is representative of each ofthe percutaneous intervention devices, and the second set of icons isrepresentative of physiological information of the patient.

Another embodiment of the invention relates to a remote workstation forthe control of percutaneous intervention devices located within a firstlab unit. The remote workstation includes a first input device and asecond input device. The remote workstation also includes a controlsystem for remotely controlling a first percutaneous intervention deviceand a second percutaneous intervention device. The first and secondinput devices are operatively coupled to the control system, and thecontrol system controls movement of the first and second percutaneousintervention devices along at least two degrees of freedom in responseto user input signals received from the first and second input devices.The remote workstation also includes a graphical user interface fordisplaying a first icon representative of the operational status of thefirst percutaneous intervention device and a second icon representativeof the operational status the second percutaneous intervention device.

Another embodiment of the invention relates to a method for measuringthe length of a structure during a percutaneous procedure. The methodincludes aligning a portion of a percutaneous device with a first end ofthe structure and moving the percutaneous device so that the portion ofthe percutaneous device moves from the first end of the structure to asecond end of the structure. The method also includes aligning theportion of the percutaneous device with the second end of the structure,measuring the distance moved by the percutaneous device to move theportion of the percutaneous device between the first end and the secondend of the structure, and providing information to the user regardingthe measured distanced.

BRIEF DESCRIPTION OF THE DRAWINGS

This application will become more fully understood from the followingdetailed description, taken in conjunction with the accompanyingfigures, wherein like reference numerals refer to like elements inwhich:

FIG. 1 is a perspective view of the robotic catheter system according toan exemplary embodiment;

FIG. 2 is block diagram of a robotic catheter system according to anexemplary embodiment;

FIG. 3 is a block diagram of a control system according to an exemplaryembodiment;

FIG. 4 is perspective view of controls for a robotic catheter systemaccording to an exemplary embodiment;

FIG. 5 is a diagram of a graphical user interface according to anexemplary embodiment;

FIG. 6 is a diagram of a robotic catheter system including multiple labunits according to an exemplary embodiment;

FIG. 7 is an image of coronary arteries shown during a real catheterbased therapeutic procedure according to an exemplary embodiment;

FIG. 8 is a flow diagram showing measurement of a length according to anexemplary embodiment; and

FIG. 9 is a graphical user interface according to an exemplaryembodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Referring to FIG. 1, a catheter procedure system 10 is shown. Catheterprocedure system 10 may be used to perform catheter based medicalprocedures (e.g., percutaneous intervention procedures). Percutaneousintervention procedures may include diagnostic catheterizationprocedures during which one or more catheters are used to aid in thediagnosis of a patient's disease. For example, during one embodiment ofa catheter based diagnostic procedure, a contrast media is injected intoone or more coronary arteries through a catheter and an image of thepatient's heart is taken. Percutaneous intervention procedures may alsoinclude catheter based therapeutic procedures (e.g., angioplasty, stentplacement, treatment of peripheral vascular disease, etc.) during whicha catheter is used to treat a disease. It should be noted, however, thatone skilled in the art would recognize that, certain specificpercutaneous intervention devices or components (e.g., type of guidewire, type of catheter, etc.) will be selected based on the type ofprocedure that is to be preformed. Catheter procedure system 10 iscapable of performing any number of catheter based medical procedureswith minor adjustments to accommodate the specific percutaneousintervention devices to be used in the procedure. In particular, whilethe embodiments of catheter procedure system 10 described herein areexplained primarily in relation to the diagnosis and/or treatment ofcoronary disease, catheter procedure system 10 may be used to diagnoseand/or treat any type of disease or condition amenable to diagnosisand/or treatment via a catheter based procedure.

Catheter procedure system 10 includes lab unit 11 and workstation 14.Catheter procedure system 10 includes a robotic catheter system, shownas bedside system 12, located within lab unit 11 adjacent patient 21.Generally, bedside system 12 may be equipped with the appropriatepercutaneous intervention devices or components (e.g., guide wires,guide catheters, working catheters, catheter balloons, stents, contrastmedia, medicine, diagnostic catheters, etc.) to allow the user toperform a catheter based medical procedure. A robotic catheter system,such as bedside system 12, may be any system configured to allow a userto perform a catheter-based medical procedure via a robotic system byoperating various controls such as the controls located at workstation14. Bedside system 12 may include any number and/or combination ofcomponents to provide bedside system 12 with the functionality describedherein. Various embodiments of bedside system 12 are described in detailin U.S. Provisional Application No. 61/050,933, filed May 6, 2008, whichis incorporated herein by reference in its entirety. Other embodimentsof bedside system 12 are described in detail in InternationalApplication No. PCT/US2009/042720, filed May 4, 2009, which isincorporated herein by reference in its entirety.

In one embodiment, bedside system 12 may be equipped to perform acatheter based diagnostic procedure. In this embodiment, bedside system12 may be equipped with a variety of catheters for the delivery ofcontrast media to the coronary arteries. In one embodiment, bedsidesystem 12 may be equipped with a first catheter shaped to delivercontrast media to the coronary arteries on the left side of the heart, asecond catheter shaped to deliver contrast media to the coronaryarteries on the right side of the heart, and a third catheter shaped todeliver contrast media into the chambers of the heart.

In another embodiment, bedside system 12 may be equipped to perform acatheter based therapeutic procedure. In this embodiment, bedside system12 may be equipped with a guide catheter, a guide wire, and a workingcatheter (e.g., a balloon catheter, a stent delivery catheter, etc.). Inanother embodiment, bedside system 12 may be equipped with anintravascular ultrasound (IVUS) catheter. In another embodiment, any ofthe percutaneous intervention devices of bedside system 12 may beequipped with positional sensors that indicate the position of thecomponent within the body.

Bedside system 12 is in communication with workstation 14, allowingsignals generated by the user inputs of workstation 14 to be transmittedto bedside system 12 to control the various functions of beside system12. Bedside system 12 also may provide feedback signals (e.g., operatingconditions, warning signals, error codes, etc.) to workstation 14.Bedside system 12 may be connected to workstation 14 via a communicationlink 38 that may be a wireless connection, cable connectors, or anyother means capable of allowing communication to occur betweenworkstation 14 and beside system 12.

Workstation 14 includes a user interface 30. User interface 30 includescontrols 16. Controls 16 allow the user to control bedside system 12 toperform a catheter based medical procedure. Controls 16 may beconfigured to control movement of the percutaneous intervention devicesalong at least two degrees of freedom. For example, controls 16 may beconfigured to cause bedside system 12 to perform various tasks using thevarious percutaneous intervention devices with which bedside system 12may be equipped (e.g., to advance, retract, or rotate a guide wire,advance, retract, or rotate a working catheter, advance, retract, orrotate a guide catheter, inflate or deflate a balloon located on acatheter, position and/or deploy a stent, inject contrast media into acatheter, inject medicine into a catheter, or to perform any otherfunction that may be performed as part of a catheter based medicalprocedure).

In one embodiment, workstation 14 includes a single set of controls 16that are configured to control all of the percutaneous interventiondevices (e.g., guide wires, catheters, catheter balloons, stents,diagnostic catheters, contrast medium, medicine, etc.) that may be usedwith bedside system 12. In this embodiment, controls 16 will include aswitch or toggle that allows the user to select which task bedsidesystem 12 will currently perform. In another embodiment, controls 16 mayinclude one or more dedicated sets of controls configured to controlbedside system 12 only during the performance of a particular task. Forexample, as shown in FIG. 4, workstation 14 may include a guide wirecontrol 23, a working catheter control 25, and a guide catheter control29. In this embodiment, guide wire control 23 is configured to advance,retract, or rotate a guide wire, working catheter control 25 isconfigured to advance, retract, or rotate a working catheter, and guidecatheter control 29 is configured to advance, refract, or rotate a guidecatheter. Controls 16 may also include a balloon control that isconfigured to inflate or deflate a balloon and/or a stent. Each of thededicated controls may include one or more buttons, joysticks, touchscreens, etc. that may be desirable to control the particular componentto which the control is dedicated. In one embodiment, controls 16 areconfigured to allow the user to operate more than one component viabedside system 12 at the same time. For example, in this embodiment, theuser may operate guide wire control 23, working catheter control 25,and/or guide catheter control 29 at the same time to advance, refract,and/or rotate a guide wire, a working catheter, and/or a guide catheterat the same time.

In an exemplary embodiment of FIG. 1, controls 16 include a touch screen18, a pair of joysticks 20 having variable speed control, a first jogbutton 22 for 1 mm jogs, and a second jog button 24 for 5 mm jogs. Firstjog button 22 and second jog button 24 have continuous jog capability.Operation of jog buttons 22 and 24 may be configured to cause bedsidesystem 12 to move a guide wire or a catheter. In one embodiment,depression of one or more of the jog buttons will move a guide wire orcatheter a set distance forward as noted above. However, jog buttons 22and 24 may be configured to move a guide wire or a catheter any distancethat may be desired. In one embodiment, controls 16 may be configured toallow the user to set the distance that a component moves in response tooperation of jog buttons 22 and 24 (e.g., 2 mm jogs, 3 mm jogs, 4 mmjogs, 6 mm jogs, 7 mm jogs, etc.). The user may set the distance that acomponent moves in response to operation of jog buttons 22 and 24 via aseparate control, such as a dial, entry of the desired distance via akeyboard or touch screen, entry of the desired distance via selection ofdesired distance from a menu displayed on one of the displays ofworkstation 14, etc. In addition, controls 16 may include a rotationaljog button configured to rotate a guide wire or a catheter a pre-setnumber of degrees when pressed. Another button may be used to acceleratethe speed of a guide wire or a catheter or to provide a multiplier sothat the variable speed control reacts in a heightened manner. Forexample, if movement of a joystick a set distance results in themovement of the guide wire at a set speed in normal operation, the guidewire would move at a multiple of the set speed by depressing the buttonto accelerate the speed. In another embodiment, the various controls(e.g., jog buttons 22 and 24, joysticks 20, etc.) may be graphic touchscreen controls.

Referring to FIG. 4, an exemplary embodiment of controls 16 is shown. Inthis embodiment, controls 16 includes a touch screen 18, a guidecatheter control 29, a guide wire control 23, and a working cathetercontrol 25. In this embodiment, guide catheter control 29, guide wirecontrol 23, and working catheter control 25 are joysticks that allow theuser to advance, refract, and rotate the component associated with thecontrol. As shown in FIG. 4, in an exemplary embodiment, guide cathetercontrol 29 is positioned on the far left, guide wire control 23 ispositioned in the middle, and working catheter control 25 is positionedto the far right below touch screen 18. In another embodiment, each ofthe joysticks shown in FIG. 4 may be assigned to control a particularcomponent based upon the preference of the user. For example, the leftmost joystick shown may be assigned to control the working catheter andthe right most joystick may be assigned to control the guide catheter.In another embodiment, one or more portions of controls 16 areconfigured to provide haptic feedback (i.e., feedback through sense oftouch) to the user. For example, the joysticks of controls 23, 25, and29 may vibrate when the user is advancing the associated component ormay apply a force to indicate resistance experienced by the associatedcomponent as the user attempts to move the component via manipulation ofthe control.

Controls 16 may include an emergency stop button 31 and a multiplierbutton 33. When emergency stop button 31 is pushed a relay is triggeredto cut the power supply to bedside system 12. Multiplier button 33 actsto increase or decrease the speed at which the associated component ismoved in response to a manipulation of guide catheter control 29, guidewire control 23, and working catheter control 25. For example, ifoperation of guide wire control 23 advances the guide wire at a rate of1 mm/sec, pushing multiplier button 33 may cause operation of guide wirecontrol 23 to advance the guide wire at a rate of 2 mm/sec. Multiplierbutton 33 may be a toggle allowing the multiplier effect to be toggledon and off. In another embodiment, multiplier button 33 must be helddown by the user to increase the speed of a component during operationof controls 16.

In the embodiment shown in FIG. 4, the controls 23, 25, and 29 are shownequally spaced from each other aligned beneath touch screen 18. In otherembodiments, controls 23, 25, and 29 are not aligned beneath touchscreen 18 but are staggered. In another embodiment, the space betweenworking catheter control 25 and guide wire control 23 is greater thanthe distance between guide wire control 23 and guide catheter control29. Controls 16 may include one or more ergonomic hand supports tosupport the user's hand while operating controls 16. In anotherembodiment, controls 16 may include a keyboard and/or a mouse. Thekeyboard and/or mouse may be separate input devices coupled via acommunication link 38 to controller 40, and/or the keyboard and/or mousemay be integrated with one or more components of workstation 14.

In one embodiment, workstation 14 and/or controls 16 include one or moredevices and/or systems to control access to and/or use of variouscomponent. For example, controls 16 may be password protected, mayinclude a fingerprint reader, a badge reader, etc. In these embodiments,controls 16 may not operate bedside system 12 unless a correct passwordis entered, an authorized finger print or badge is read, etc.

User interface 30 may include a first monitor 26 and a second monitor28. First monitor 26 and second monitor 28 may be configured to displayinformation or patient specific data to the user located at workstation14. For example, first monitor 26 and second monitor 28 may beconfigured to display image data (e.g., x-ray images, MRI images, CTimages, ultrasound images, etc.), hemodynamic data (e.g., bloodpressure, heart rate, etc.), patient record information (e.g., medicalhistory, age, weight, etc.). In addition, first monitor 26 and secondmonitor 28 may be configured to display procedure specific information(e.g., duration of procedure, catheter or guide wire position, volume ofmedicine or contrast agent delivered, etc.). In one embodiment, firstmonitor 26 is configured to display a real-time image of a patient'sheart during a catheterization procedure, and second monitor 28 isconfigured to display graphical user interface 160 as discussed below.In another embodiment, user interface 30 includes a third monitorconfigured to display hemodynamic data. In another embodiment, userinterface 30 includes a single screen of sufficient size to display oneor more of the displays and/or touch screen components discussed herein.

Catheter procedure system 10 also includes an imaging system 32 locatedwithin lab unit 11. Imaging system 32 may be any medical imaging systemthat may be used in conjunction with a catheter based medical procedure(e.g., non-digital x-ray, digital x-ray, CT, MRI, ultrasound, etc.). Inan exemplary embodiment, imaging system 32 is a digital x-ray imagingdevice including a C-arm that allows imaging system 32 to partially orcompletely rotate around patient 21 in order to obtain images atdifferent angular positions relative to the patient (e.g., sagitalviews, caudal views, cranio-caudal views, etc.).

Imaging system 32 is configured to take x-ray images of the appropriatearea of patient 21 during a particular procedure. For example, imagingsystem 32 may be configured to take one or more x-ray images of theheart to diagnose a heart condition. Imaging system 32 may also beconfigured to take one or more x-ray images during a catheter basedmedical procedure (e.g., real-time images) to assist the user ofworkstation 14 to properly position a guide wire, catheter, stent, etc.during the procedure. The image or images may be displayed on firstmonitor 26 and/or second monitor 28. In addition, controls 16 may alsobe configured to allow the user positioned at workstation 14 to controlvarious functions of imaging system 32 (e.g., image capture,magnification, collimation, c-arm positioning, etc.).

Workstation 14 is capable of being remotely located, for example, ineither a procedure room or a separate control room. Workstation 14 maybe located at any place within a hospital. Workstation 14 may also be inat any location outside of the hospital, such as in a physician'soffsite office, mobile workstation trailer, etc. If workstation 14 islocated such that the user is not able to directly view patient 21within lab unit 11, lab unit 11 may be equipped with a camera to allowthe user located at workstation 14 to see the patient within lab unit11. If imaging system 32 is a radiation based imaging device, remotelylocating workstation 14 enables users to perform procedures outside theradiation zone created by imaging system 32. This may eliminate the needto wear heavy lead garments. This reduces orthopedic occupationalhazards, including, but not limited to, spinal injuries and generalstrain on the body of the operator. A second benefit of remotelylocating workstation 14 is that the dangers associated with radiationexposure are reduced. A third benefit of remotely locating workstation14 is that it allows users to multitask outside the procedure roomduring downtime.

In an exemplary embodiment shown in FIG. 6, a single workstation 14 maybe in communication with multiple lab units 11. Each lab unit 11 may beequipped as discussed above regarding FIGS. 1 and 2. The singleworkstation 14 may be configured to operate a bedside system, an imagingsystem, and/or a communication system that are located within each ofthe lab units. In this embodiment, controls 16 may include a switch orother suitable selection device that allows the user located atworkstation 14 to select which lab unit 11 workstation 14 is currentlycontrolling. This configuration may increase the productivity andefficiency of workstation 14. For instance, this configuration may allowthe user positioned at workstation 14 to perform a catheter basedmedical procedure on a first patient using a first bedside systemlocated in the first lab unit while another patient is being prepared(e.g., anesthetized, connected to monitoring devices, etc.) for aprocedure to be preformed in the second lab unit. In one embodiment, thesingle workstation 14 may be located at a different site than one ormore of the lab units that it is controlling. In this embodiment, eachlab unit 11 may be equipped with a camera to allow the user located atworkstation 14 to see each of the patients within each lab unit 11. Inanother embodiment, multiple workstations 14 may control a single labunit 11. In one embodiment, there is a master-slave relationship betweenthe multiple workstations.

Referring to FIG. 1, catheter procedure system 10 may include acommunication system that allows the user positioned at workstation 14to communicate with patient 21 positioned within lab unit 11. Thecommunication system, may include a first voice output unit, shown aslab unit speaker 13, a first voice input unit, shown as lab unitmicrophone 15, a second voice output unit, shown as workstation speaker17, and a second voice input unit, shown as workstation microphone 19.Workstation microphone 19 is configured to transmit the voice of theuser of workstation 14 to lab unit speaker 13. Lab unit microphone 15 isconfigured to transmit the voice of patient 21 to workstation speaker17. The communication system may include one or more switches (e.g.,on/off switch, mute switch, etc.) to turn off workstation microphone 19and/or lab unit microphone 15. Speaker 13 and/or speaker 17 may alsoinclude on/off switches and/or volume control switches. In oneembodiment, controller 40 is configured to operate the communicationsystem.

In one embodiment, lab unit speaker 13 and/or workstation speaker 17 maybe a set of headphones or earphones that patient 21 and/or the user ofworkstation 14, respectively, may wear. In another embodiment, lab unitspeaker 13, lab unit microphone 15, workstation speaker 17, andworkstation microphone 19 comprise a wireless remote communicationsystem. In this embodiment, workstation speaker 17 and workstationmicrophone 19 may be part of a wireless headset that the user ofworkstation 14 can wear while performing a catheter based procedure. Useof a wireless headset may allow the user to move more freely aboutworkstation 14 and remain in communication with patient 21 and it mayalso eliminate problems that may associated with cords under certaincircumstances (e.g., tangling, tripping, etc.).

Referring to FIG. 2, a block diagram of catheter procedure system 10 isshown according to an exemplary embodiment. Catheter procedure system 10may include a control system, shown as controller 40. As shown in FIG.2, controller 40 may be part of workstation 14. Controller 40 is incommunication with one or more bedside systems 12, controls 16, monitors26 and 28, imaging system 32, and patient sensors 35 (e.g.,electrocardiogram (“ECG”) devices, electroencephalogram (“EEG”) devices,blood pressure monitors, temperature monitors, heart rate monitors,respiratory monitors, etc.). In addition, controller 40 may be incommunication with a hospital data management system or hospital network34 and one or more additional output devices 36 (e.g., printer, diskdrive, cd/dvd writer, etc.). Communication between the variouscomponents of catheter procedure system 10 may be accomplished viacommunication links 38. Communication links 38 may be dedicated wires orwireless connections. Communication links 38 may also representcommunication over a network. Catheter procedure system 10 may beconnected or configured to include any other systems and/or devices notexplicitly shown. For example, catheter procedure system 10 may includeIVUS systems, image processing engines, data storage and archivesystems, automatic balloon and/or stent inflation systems, contrastmedia and/or medicine injection systems, medicine tracking and/orlogging systems, user logs, encryption systems, systems to restrictaccess or use of catheter procedure system 10, robotic catheter systemsof the past, present, or future, etc.

Referring to FIG. 3, a block diagram of controller 40 is shown accordingto an exemplary embodiment. Controller 40 may generally be an electroniccontrol unit suitable to provide catheter procedure system 10 with thevarious functionalities described herein. For example, controller 40 maybe an embedded system, a dedicated circuit, a general purpose systemprogrammed with the functionality described herein, etc. Controller 40includes a processing circuit 42, memory 44, communication module orsubsystem 46, communication interface 48, procedure control module orsubsystem 50, simulation module or subsystem 52, GUI module or subsystem56, data storage module or subsystem 58, safety lock module or subsystem62, maintenance module or subsystem 64, and measurement module 66.

Processing circuit 42 may be a general purpose processor, an applicationspecific processor (ASIC), a circuit containing one or more processingcomponents, a group of distributed processing components, a group ofdistributed computers configured for processing, etc. configured providethe functionality of module components 46, 50-66. Memory 44 (e.g.,memory unit, memory device, storage device, etc.) may be one or moredevices for storing data and/or computer code for completing and/orfacilitating the various processes described in the present disclosure.Memory 44 may include volatile memory and/or non-volatile memory. Memory44 may include database components, object code components, scriptcomponents, and/or any other type of information structure forsupporting the various activities described in the present disclosure.

According to an exemplary embodiment, any distributed and/or localmemory device of the past, present, or future may be utilized with thesystems and methods of this disclosure. According to an exemplaryembodiment, memory 44 is communicably connected to processing circuit 42(e.g., via a circuit or any other wired, wireless, or networkconnection) and includes computer code for executing one or moreprocesses described herein. A single memory unit may include a varietyof individual memory devices, chips, disks, and/or other storagestructures or systems.

Module or subsystems 46, 50-66 may be computer code (e.g., object code,program code, compiled code, script code, executable code, or anycombination thereof) for conducting each module's respective functions.Module components 46, 50-66 may be stored in memory 44, or in one ormore local, distributed, and/or remote memory units configured to be incommunication with processing circuit 42 or another suitable processingsystem.

Communication interface 48 includes one or more component forcommunicably coupling controller 40 to the other components of catheterprocedure system 10 via communication links 38. Communication interface48 may include one or more jacks or other hardware for physicallycoupling communication links 38 to controller 40, an analog to digitalconverter, a digital to analog converter, signal processing circuitry,and/or other suitable components. Communication interface 48 may includehardware configured to connect controller 40 with the other componentsof catheter procedure system 10 via wireless connections. Communicationmodule 46 is configured to support the communication activities ofcontroller 40 (e.g., negotiating connections, communication via standardor proprietary protocols, etc.). In one embodiment, communication module46 may also be configured to support communication between lab unitspeaker 13, lab unit microphone 15, workstation speaker 17, andworkstation microphone 19. In another embodiment, communicationinterface 48 may be configured to communicably couple controller 40 tomultiple bedside systems and/or multiple imaging systems located inmultiple lab units. In this embodiment, communication module 46 may alsobe configured to allow workstation 14 to control multiple lab units.

Data storage module 58 is configured to support the storage andretrieval of information by controller 40. In one embodiment, datastorage module 58 is a database for storing patient specific data,including image data. In another embodiment, data storage module 58 maybe located on hospital network 34. Data storage module 58 and/orcommunication module 46 may also be configured to import and/or exportpatient specific data from hospital network 34 for use by controller 40.

Controller 40 also includes a procedure control module 50 configured tosupport the control of bedside system 12 during a catheter based medicalprocedure. Procedure control module 50 allows the manipulation ofcontrols 16 by the user to operate bedside system 12. Procedure controlmodule 50 may also cause data appropriate for a particular procedure tobe displayed on monitors 26 and 28. Procedure control module 50 mayinclude sets of instructions specific to various types of catheter basedprocedures that may be performed using bedside system 12. For example,procedure control module 50 may include one set of instructions thatwill be executed by processing circuit 42 if bedside system 12 is beingused to perform a diagnostic catheterization procedure and another setof instructions that will be executed by processing circuit 42 ifbedside system 12 is being used to perform an therapeutic catheterprocedure. In addition, procedure control module 50 may also beconfigured to allow a user located at workstation 14 to operate imagingsystem 32. In the exemplary embodiment shown in FIG. 6, procedurecontrol module 50 located at workstation 14 may be configured to controlmultiple bedside systems, control balloon and/or stent inflation,control contrast media and/or medicine injection, and control multipleimaging systems located in multiple lab units 11.

Referring to FIG. 7, an exemplary catheterization procedure is shown.During the exemplary balloon angioplasty therapeutic procedure of FIG.7, an incision is made, usually in the groin. A guide catheter 148 isinserted through the incision into the femoral artery. Bedside system 12is operated to feed guide catheter 148 through the patient's arterialsystem until guide catheter 148 is positioned near either the left orright ostium. Bedside system 12 is then operated to feed guide wire 142through guide catheter 148 until guide wire 142 extends across lesion140. Next, bedside system 12 is operated to advance working catheter 144over guide wire 142 to position balloon 146 across lesion 140. Onceworking catheter 144 and balloon 146 is in place, balloon 146 isinflated to compress lesion 140 and to stretch the artery open therebyincreasing blood flow to the heart. Balloon 146 is then deflated, guidewire 142 and working catheter 144 are removed, and the incision isclosed.

While the catheter based therapeutic procedure discussed above relatesto a balloon angioplasty, it should be understood that the catheter usedduring a catheterization procedure may be any type of catheter usefulduring the performance of any percutaneous procedure. For example, thecatheter may include a stent that is expanded and left at the site ofthe lesion. Alternatively, the catheter may include structures adaptedto cut or grind away the plaque forming the lesion.

Controller 40 also includes simulation module 52. Simulation module 52is configured to run a simulated catheterization procedure based uponstored patient specific data (e.g., image data representing a patient'sheart) and also based upon a user's manipulation of controls 16.Generally, simulation module 52 is configured to allow a user tomanipulate controls 16 during the simulated procedure, to determine howbedside system 12 would respond to the manipulation of these controls ifthe procedure were not simulated, and, based upon this, to providefeedback to the user regarding the user's performance during thesimulated procedure. In one embodiment, simulation module 52 may displayan image of a heart on monitor 26 or 28 and display an image of avirtual catheterization component on top of the displayed image. Theimage of the virtual catheterization component moves relative to thedisplayed image in response to manipulation of controls 16. In oneembodiment various information from or portions of the simulatedprocedure is recorded.

Controller 40 also includes graphical user interface (“GUI”) module 56.GUI module 56 is configured to support the display of information onmonitors 26 and 28 and/or on touch screen 18. In one embodiment, duringa catheterization procedure, GUI module 56 is configured to displayx-ray images of a patient's heart generated by imaging system 32 onfirst monitor 26, to display hemodynamic data on second monitor 28, andto display graphical user interface (“GUI”) 160 on touch screen 18. Inanother embodiment, GUI module 56 is configured to display imagescaptured during a previous catheter based medical procedure. In oneembodiment, the image data is downloaded in advance into data storagesubsystem in advance of the next procedure to be performed. GUI module56 may include a two dimensional graphics engine, a three dimensionalgraphics engine, and/or any other suitable logic or programming code forgenerating a GUI having the features described in the presentapplication.

Referring to FIG. 5, in one embodiment GUI module 56 is configured togenerate a GUI 160 having an icon representing the operational status ofeach of the percutaneous intervention devices or components that may beused with bedside system 12. GUI 160 includes a guide wire icon 162, aguide catheter icon 164, and a working catheter icon 166. In oneembodiment, GUI module 56 is configured to display icons 162-166 in amanner that illustrates which component bedside system 12 is currentlycontrolling.

In one embodiment, GUI module 56 may be configured to alter the displayof guide wire icon 162 when the user is controlling guide wire 142, toalter the display of guide catheter icon 164 when the user iscontrolling guide catheter 148, and to alter the display of workingcatheter icon 166 when the user is controlling working catheter 144. Inone embodiment, GUI module 56 is configured to color code the icons ofGUI 160 based upon whether the corresponding component is currently inuse. For example, if controls 16 are currently controlling guide wire142, guide wire icon 162 may be colored green to indicate that the useris currently controlling the guide wire. In addition, when controls 16are currently controlling guide wire 142, guide catheter icon 164 andworking catheter icon 166 may be colored yellow or grey to indicate thatthe user is not currently controlling guide catheter 148 or workingcatheter 144. In other embodiments, GUI module 56 may change the size,change the shape, change the type of graphic, create movement, etc. ofthe icons of GUI 160 to clearly indicate which component is in currentlyin use. In one embodiment, GUI module 56 is configured to display icons162-166 as a moving graphic of the component currently in use. In thisembodiment, the movement of the graphic may match the movementexperienced by the component. For example, guide wire icon 162 may be anadvancing, retracting, or rotating graphic of a guide wire when guidewire 142, is being advanced, retracted, or rotated.

In another embodiment, GUI module 56 is configured to color code icons162-166 based upon whether the corresponding component has been renderedinoperative by safety lock module 62. For example, if the controls forguide wire 142 have been locked, GUI module 56 may be configured tocolor guide wire icon 162 red. In addition, GUI module 56 may beconfigured to color code the image of a particular component shown inthe x-ray image of the patient's heart to correspond to the color of thecorresponding icon. For example, if guide wire icon 162 is colored greenindicating that guide wire 142 is in use, the image of guide wire 142shown in the x-ray image may also be colored green.

In another embodiment, GUI module 56 may be configured to display icons162-166 in a manner that clearly indicates which controls are configuredto operate which component of beside system 12. In the exemplaryembodiment of FIG. 4, GUI module 56 is configured to display icons162-166 on touch screen 18 such that each icon is positioned above thecorresponding control. In one embodiment, the user may assign each ofthe joysticks shown in FIG. 4 to control a particular component bypositioning icons 162-166 over the joysticks. For example, if a userwanted the left most joystick to control the working catheter, the userwould touch working catheter icon 166 on touch screen 18 and dragworking catheter icon 166 to the portion of touch screen 18 above theleft most joystick. In another exemplary embodiment, if guide wirecontrol 23 has a particular shape and/or color, GUI module 56 may beconfigured to display guide wire icon 162 to have the same shape and/orcolor as guide wire control 23. In another embodiment, GUI module 56 isconfigured to display GUI 160 during a simulated catheterizationprocedure is performed using catheter procedure system 10.

In another embodiment, GUI module 56 may be configured to allow the userto alter the display of image data by interacting with touch screen 18.In one embodiment, GUI 160 may be displayed on touch screen 18 and GUI160 may include an icon representing the patient's heart. By touchingportions of the icon representing the patient's heart, the user mayalter the display of real-time images during the performance of a realcatheterization procedure or may alter the display of a stored imageduring the performance of a simulation procedure. For example the usermay touch to coronary artery portion of the heart icon to cause thedisplay of the real-time images of the patient's heart to zoom in on(e.g., magnify, increase the screen resolution, etc.) the coronaryarteries displayed in the real-time image.

In another embodiment, GUI module 56 is configured to display GUI 160including icons that represent various information about the procedurecurrently being preformed. In one embodiment, GUI module 56 displays anicon that shows the distance moved by the various percutaneousintervention devices during the procedure. This distance information maybe obtained from encoders in bedside system 12, from the real-time imagedata, and/or from one or more positional sensors located on thepercutaneous intervention devices. In another embodiment, GUI module 56may display an icon that shows a force that is acting on thepercutaneous intervention devices. This force may be generated bybedside system 12 or by a source within the patient (e.g., contractionof the heart, etc.).

In another embodiment, GUI module 56 is configured to display an iconshowing the amount of contrast media that has been delivered to thepatient during the procedure. In one embodiment, this icon may alsoindicate the maximum amount of contrast agent that can safely bedelivered to the patient. This icon may also indicate the amount ofcontrast agent that still may be delivered to the patient during theprocedure. In one embodiment, this icon may be a meter that has a barthat increases as the amount of contrast media delivered increases. Inanother embodiment, GUI module 56 is configured to display an iconshowing the amount of radiation that has been delivered to a patientduring a particular procedure. This icon may also show the maximumamount of radiation that may be delivered during the procedure and mayalso show the current amount of radiation delivered as a percentage ofthe total that may be delivered.

In another embodiment, GUI module 56 is configured to display an iconproviding information regarding the state of contraction of the heart.Providing this information to the user may allow the user to timeoperation of various percutaneous intervention devices to a particularstage of the heart beat. For example, the user may want to injectcontrast media into the coronary arteries during diastole to preventdilution of the contrast media that may occur when the heart contractsmoving blood through the coronary arteries. In one embodiment, GUImodule 56 displays an icon indicating when contrast media should beintroduced. In another embodiment, controller 40 automatically injectscontrast agent during the appropriate state of contraction of the heart.As another example, the user may time movement of the guide wire so thatthe guide wire is moved during diastole because the amount of contact(and consequently the resulting frictional force) between the guide wireand the interior wall of the blood vessel tends to be lower duringdiastole. In one embodiment, GUI module 56 displays an icon of a beatingheart that matches the beating of the patient's heart. In anotherembodiment, GUI module 56 displays an electrocardiogram graph.

In other embodiments, GUI module 56 is configured to display iconsindicating various physiological data of the patient. In one embodiment,GUI module 56 displays one or more icons indicating the patient's heartrate, respiratory rate, blood pressure, body temperature, etc. Inanother embodiment, GUI module 56 may be configured to display icons toindicate that the patient is experiencing a medical problem. Forexample, GUI module 56 may be configured to display an icon indicatingthat patient 21 is experiencing cardiac arrest or a seizure, that thepatient's breathing has stopped, etc. Display of icons indicating aproblem with the patient may be based upon the various measurementstaken by patient sensors 35 (e.g., heart rate, blood pressure, etc.)during the catheterization procedure or based upon an automated analysisof the real time images of the patient's heart taken during theprocedure.

In other embodiments, GUI module 56 is configured to display GUI 160including icons that represent various aspects of catheter proceduresystem 10. In one embodiment, GUI module 56 is configured display agraphical display of the motors, actuators, encoders, etc. that arecurrently in use or in motion within bedside system 12. In oneembodiment, GUI module 56 is configured to display one or more icons(e.g., on/off icons, mute icon, volume icon, etc.) to allow the userlocated at workstation 14 to control various aspects of thecommunication system. In another embodiment, GUI module 56 is configuredto a display a graphic that indicates that patient 21 located within labunit 11 is trying to communicate using lab unit mic 15.

In another embodiment, GUI module 56 may be configured to display anicon indicating various information regarding a particular componentthat is being used with bedside system 12. For example, if a guide wireof a certain size made by a certain manufacturer is being used withbedside system 12, the icon displayed by GUI module 56 will indicate thesize and manufacturer of the guide wire. In one embodiment, specificpercutaneous intervention devices may include radio frequencyidentification tags (RFID tags) that include information whichidentifies the particular component, and catheter procedure system 10may include an RFID reader to read the RFID tags. In this embodiment,the icon identifying the component displayed by GUI module 56 is basedupon the information read from the RFID tag associated with thecomponent.

In another embodiment, GUI module 56 will display a menu listing all ofthe specific percutaneous intervention devices that may be used withbedside system 12. The user then may select from the menu whichcomponent will be used with bedside system 12. Various modules ofcontroller 40 may utilize information about specific percutaneousintervention devices to provide the functionalities of the modules. Forexample, procedure module 50 may utilize this information to ensure thatproper display of information during a catheterization procedure.

In another embodiment, GUI module 56 is configured to display an iconthat represents the angioplasty balloon and/or stent that the workingcatheter is equipped with. In one embodiment, GUI module 56 isconfigured to display a graphical representation of the balloon and/orstent that expands as the real balloon or catheter expands allowing theuser to conveniently see the current state of expansion. In anotherembodiment, GUI module may be configured to display a bar graphindicating the percentage of the balloon or stent expansion.

In another embodiment, GUI module 56 is configured to display iconsrepresenting various information based upon interaction with bedsidesystem 12. In one embodiment, if a physician, nurse, technician, etc.working within lab unit 11 performs an action indicating that a newpatient will be operated on in lab unit 11, GUI module 56 may display anicon prompting the user at workstation 14 to load or access the recordsand/or patient history of the next patient to undergo a procedure withinlab unit 11. One event that may trigger the display of this icon is theloading of new percutaneous intervention devices (e.g., a new cassette,etc.) into bedside system 12. In one embodiment, controller 40 mayrecord a summary or produce a summary report of every display generatedby GUI module 56 during a catheter based procedure. In one embodiment,the summary report includes all of the details of a catheter basedmedical procedure (e.g., time, movement of devices, types of devicesused, etc.).

Controller 40 also includes a safety lock module 62. Safety lock module62 is configured to lock, render inoperative, inactivate, etc., one ormore portions of controls 16 when the component of bedside system 12(e.g., guide wires, catheters, catheter balloons, stents, contrastmedia, medicine, etc.) that corresponds to the inactive portion ofcontrol 16 is not currently in use. This may prevent accidental orinadvertent operation of the inactive control or controls. For example,in the embodiment shown in FIG. 4, when the operator is moving a guidewire via operation of guide wire control 23, working catheter control 25and guide catheter control 29 may be rendered inoperative such that ifthe user accidentally operates (e.g., inadvertently touches, bumps,etc.) either control, there will be no corresponding movement of theworking catheter or the guide catheter. Controls 16 may include aswitch, toggle or other means that is configured to allow the user toswitch various controls between active and inactive states (e.g.,controls 210 and 220 discussed below).

In one embodiment, safety lock module 62 inactivates one or more of thecontrols by preventing the inactive control from generating a controlsignal (e.g., the inactive control may be disconnected from a powersource). In another embodiment, safety lock module 62 inactivates one ormore of the controls by preventing the transmission of a control signalfrom the inactive control. This may be accomplished by introducing areversible break in one of the communication links 38 that connect theinactive control to bedside system 12. In another embodiment, safetylock module 62 inactivates one or more of the controls by causingbedside system 12 or one of the intermediate subsystems of controller 40(e.g., procedure control module 50) to ignore the control signalgenerated by the inactive control.

Controller 40 also includes maintenance module 64. Maintenance module 64is configured to allow a technician to perform various maintenance taskson catheter procedure system 10. Maintenance module 64 may allow atechnician to calibrate various components of catheter procedure system10 (e.g., motors within bedside system 12, controls 16, etc.).Maintenance module 64 may also be configured to allow the technician toreinstall, update, upgrade, etc. any of the software components ofcatheter procedure system 10. Maintenance module 64 may also beconfigured to allow the technician to perform diagnostic tests to aid inthe isolation and repair of a malfunction. In one embodiment,maintenance module 64 is configured to allow the technician to switchbetween a maintenance mode, and/or procedure mode.

Controller 40 also includes measurement module 66. Measurement module 66is configured to measure the length of a structure utilizing catheterprocedure system 10 by measuring the distanced moved by a percutaneousdevice as the percutaneous device traverses the length of the structure.In this embodiment, catheter procedure system 10 includes one or moredevices or components for measuring the distance moved by thepercutaneous device (e.g., guide wire 142). For example, bedside system12 may be equipped with one or more encoders that measure movement ofrollers that impart movement to the guide wire. In other embodiments,however, other measurement devices for determining the amount of guidewire movement may be used.

Referring to FIGS. 7 and 8, an exemplary embodiment of measurementmodule 66 is described for measuring the length of a vascular lesion. Asshown in FIG. 7, lesion 140 includes a distal end 152 and a proximal end154, and guide wire 142 includes a distal tip 150. Referring to FIG. 8,to measure the length of lesion 140, at step 170 the user operatescontrols 16 to cause bedside system 12 to move guide wire 142 so thatdistal tip 150 of guide wire 142 is aligned with distal end 152 oflesion 140. The user then activates measurement module 66 by, forexample, selecting a measurement mode icon displayed on touch screen 18.With measurement module 66 activated, at step 172, the user operatescontrols 16 to cause guide wire 142 to retract. At step 174, the usercontinues to operate controls 16 to retract guide wire 142 until distaltip 150 of guide wire 142 is aligned with proximal end 154 of lesion140. Next the user indicates that distal tip 150 of guide wire 142 isaligned with proximal end 154 of lesion 140 by, for example, selecting ameasurement complete icon displayed on touch screen 18. At step 176,measurement module 66 calculates the distance that guide wire 142 wasretracted between distal end 152 and proximal end 154 of lesion 140. Inone embodiment, the distance that guide wire 142 was retracted isdetermined from a device, such as an encoder, that measures (directly orindirectly) the distance that guide wire 142 travels as discussed above.The distance that guide wire 142 was retracted is approximately the samelength of lesion 140. At step 178, measurement module 66 then causes thedisplay of the lesion length to the user.

The length of the lesion may then be used to select the appropriate sizedevice (e.g., stent, angioplasty balloon, etc.) for treatment of thelesion. In one embodiment, the user performs measurement of the lesionby watching the positioning of the guide wire relative to the lesion onthe live, real-time angiographic images of the patient displayed onmonitor 26 and/or 28. In another embodiment, lesion length may bemeasured by measuring the length of the 2D angiographic image of thelesion. However, because the 2D image of the lesion may distort the3-dimensional length of the lesion, indirect measurement of lesionlength by measuring guide wire movement, as discussed above, oftenresults in a more accurate measurement of lesion length than measurementfrom a 2D image.

In various embodiments, distal tip 150 of guide wire 142 is configuredto facilitate location by the user. In one embodiment, distal tip 150may be configured to be easily seen on an x-ray based image of thepatient. For example, distal tip 150 of guide wire 142 may be made moreradio-opaque than the rest of guide wire 142. In another embodiment,distal tip 150 of guide wire 142 emits radiation that is detected byimaging system 32.

In various embodiments, measurement module 66 may be integrated withother devices or systems to provide additional and/or differentmeasurements of various lesion characteristics. For example, measurementmodule 66 may be configured to utilize an intravascular ultrasound(IVUS) catheter system and/or an optical coherence tomography (OCT)system to measure various characteristics of a lesion and to cause adisplay of information related to the measured characteristic on one ormore of the display devices of workstation 14. In addition to lesionlength, measurement module 66 may be configured to utilize one or moremeasurement systems to measure and display information related tocharacteristics of a lesion in addition to lesion length (e.g., amountof vascular occlusion, degree of calcification, etc.).

Referring to FIG. 9, in one exemplary embodiment, GUI module 56 may beconfigured to cause the display of a graphical user interface (GUI) 200.In the embodiment shown, GUI 200 includes a guide wire panel 202, aworking catheter panel, shown as balloon/stent panel 204, system panel206, and a device engagement panel 208. In the embodiment shown, GUI 200is displayed on touch screen 18 allowing the user to interact with thevarious icons by touching the touch screen generating inputs to beprocessed by the appropriate modules or subsystems of controller 40. Inother embodiments, GUI 200 may be displayed on a non-touch screendisplay with the user interacting with the icons via one or more inputdevice (e.g., mouse, keyboard, etc.). In the embodiment shown, GUI 200,in combination with the other control elements of control 16 (e.g.,guide wire control 23, working catheter control 25, etc.), allows a userto control bedside system 12 to move a guide wire and/or a workingcatheter equipped with a balloon and/or stent to perform a procedure. Itshould be understood that, while the embodiment of GUI 200 shown relatesprimarily to the control of a guide wire and a working catheter equippedwith a balloon and/or stent, GUI 200 may be modified for the display andcontrol of any device (e.g., guide catheter, imaging catheter, etc.)that may be operated via workstation 14.

In the embodiment shown, guide wire panel 202 includes various GUIelements related to the control and position of the guide wire. Guidewire panel 202 includes an activation control 210, a guide wire speedindicator 212, a guide wire measurement control 214, a guide wire axialstep control 216, and a guide wire rotational step control 218.Balloon/stent panel 204 includes various GUI elements related to thecontrol and position of the balloon and/or stent. Balloon/stent panel204 includes an activation control 220, balloon/stent speed indicator222, a balloon/stent measurement control 224, and a balloon/stent axialstep control 226.

In the embodiment of FIG. 9, controls 210 and 220 allow the user toimplement the functionality of safety lock module 62 discussed above.Guide wire activation control 210 allows a user to toggle the guide wirerelated controls between active and inactive states. Activation control210 includes a status icon 228 and a toggle button 230 which is pressedby the user to toggle between the active and inactive states. In theembodiment shown, button 230 includes an icon representative of theguide wire control 23 (a joystick in the embodiment shown). When control210 is toggled to the inactive state, the guide wire control elements(e.g., control 23, controls of guide wire panel 202) are disabled suchthat if a user interacts with one of the control elements there will beno corresponding movement of the guide wire caused by bedside system 12.When the guide wire controls are inactive, status icon 228 and button230 are displayed in a first color (e.g., grey, red, etc.) to indicateto the user that the guide wire control elements are inactive. Whencontrol 210 is toggled to the active state, the guide wire controlelements (e.g., control 23, controls of guide wire panel 202) areenabled such that if a user manipulates one of the control elementsbedside system 12 will cause the guide wire to move based on themanipulation of the control. When the guide wire controls are active,status icon 228 and button 230 are displayed in a second color (e.g.,green, blue, etc.) to indicate to the user that the guide wire controlelements are active.

Balloon/stent activation control 220 allows a user to toggle the workingcatheter related controls between active and inactive states. Activationcontrol 220 includes a status icon 232 and a toggle button 234 which ispressed by the user to toggle between the active and inactive states. Inthe embodiment shown, button 234 includes an icon representative ofworking catheter control 25 (a joystick in the embodiment shown). Whencontrol 220 is toggled to the inactive state, the working cathetercontrol elements (e.g., control 25, controls of balloon/stent panel 204)are disabled such that if a user interacts with one of the controlelements there will be no corresponding movement of the working cathetercaused by bedside system 12. When the working catheter controls areinactive, status icon 232 and button 234 are displayed in a first color(e.g., grey, red, etc.) to indicate to the user that the workingcatheter control elements are inactive. When control 220 is toggled tothe active state, the working catheter control elements (e.g., control25, controls of balloon/stent panel 204) are enabled such that if a usermanipulates one of the control elements bedside system 12 will cause theworking catheter (and any balloon/stent that the working catheter isequipped with) to move based on the manipulation of the control. Whenthe working catheter controls are active, status icon 232 and button 234are displayed in a second color (e.g., green, blue, etc.) to indicate tothe user that the working catheter control elements are active.

In use the user may toggle the currently active set of controls to theinactive state before toggling the other set of controls to the activestate. However, in one embodiment, safety lock module 62 may beconfigured to allow both the guide wire controls and the workingcatheter controls to be active at the same time if both control 210 and220 are toggled to the active state by the user. In another embodiment,safety lock module 62 may be configured to prevent both the guide wirecontrols and the working catheter controls to be active at the same timerequiring the user to inactivate one set of controls before activatingthe other set of controls. In one embodiment, when the controls for thedevice are inactivated, safety lock module 62 is configured to causebedside system 12 to hold the position of the device fixed until thecontrols for the device are reactivated (i.e., the device does not moverelative to the drive mechanisms of bedside system 12 and/or relative tothe patient). For example, the drive mechanisms of bedside system 12 maybe configured to engage the inactive device with enough force to preventunwanted movement of the device relative to the bedside system and/or tothe patient.

Guide wire speed indicator 212 provides information to the userregarding the current movement of the guide wire. As shown, guide wirespeed indicator 212 includes a linear or axial speed indicator 236 todisplay information related to the linear speed of the guide wire and arotational speed indicator 238 to display information related to therotational speed of the guide wire. Linear speed indicator 236 includesa vertically displayed bar 240 extending between a maximum forward icon242 indicating the maximum forward speed, a maximum reverse icon 244indicating the maximum reverse speed of the guide wire, and an origin246 indicating zero linear movement. As the user manipulates the guidewire controls to advance or retract the guide wire, bar 240 betweenorigin 246 and either icon 242 or icon 244 changes color in proportionto the speed of the guide wire. For example, if the guide wire iscurrently being advanced at half of the maximum speed, the first half ofvertical bar 240 extending above origin 246 changes color.

Rotational speed indicator 238 includes a curved horizontally displayedbar 248 extending between a left (i.e., counterclockwise) rotation icon250 indicating the maximum left rotational speed and a right (i.e.,clockwise) rotation icon 252 indicating the maximum right rotationalspeed. As the user manipulates the guide wire controls to rotate theguide wire, bar 248 between origin 246 and either icon 250 or icon 252changes color in proportion to the rotational speed of the guide wire.For example, if the guide wire is currently being rotated at half themaximum speed to the right, the first half of horizontal bar 248extending from origin 246 toward right rotation icon 252 changes color.

Balloon/stent speed indicator 222 provides information to the userregarding the current movement of the balloon/stent that the workingcatheter is equipped with. In the embodiment shown, indicator 222provides information related to the linear speed of the workingcatheter. Indicator 222 includes a vertical bar 256 extending between amaximum forward icon 258 indicating the maximum forward speed, a maximumreverse icon 260 indicating the maximum reverse speed, and an origin 262indicating zero linear movement. As the user manipulates the workingcatheter controls to advance or retract the balloon/stent, bar 256between origin 262 and either icon 258 or icon 260 changes color inproportion to the speed of the balloon/stent. For example, if theballoon/stent is currently being advanced at half of the maximum speed,the first half of vertical bar 256 extending above origin 262 changescolor.

Guide wire measurement control 214 includes a reset button 264, a savebutton 266, distance indicator 268, and a stored distance indicator 270.When pushed, reset button 264 resets the value displayed by distanceindicator 268 causing distance indicator 268 to display 000.0. As theguide wire is advanced and retracted, distance indicator 268 displaysthe net distance that the guide wire has moved since the last time resetbutton 264 was pushed (in mm in the embodiment shown). In this manner,distance indicator 268 displays the length of the path that the guidewire traveled from the point when the reset button was pushed to itscurrent position. Thus, distance indicator 268 provides informationregarding the current position of the guide wire relative to theposition when reset button 264 was last pushed. When save button 266 ispushed, the current value displayed in distance indicator 268 is savedand displayed in stored distance indicator 270.

In the embodiment of FIG. 9, the functionality of measurement module 66is provided via guide wire measurement control 214. To measure thelength of a lesion using guide wire measurement control 214, the userwill press reset button 264 when the tip of the guide wire is alignedwith the distal tip of the lesion. The user will then retract the guidewire until the distal tip of the guide wire is aligned with the proximaltip of the lesion. When aligned, the user will press save button 266.The number displayed in stored distance indicator 270 will be thedistance that the guide wire traveled from the distal to proximal endsof the lesion. The distance traveled using this procedure provides ameasurement of the length of the lesion.

Balloon/stent measurement control 224 includes a reset button 272, asave button 274, a distance indicator 276, and a stored distanceindicator 278. When pushed, reset button 272 resets the value displayedby distance indicator 276 causing distance indicator 276 to display000.0. As the working catheter is advanced and retracted, distanceindicator 276 displays the net distance that the working catheter hasmoved since the last time reset button 272 was pushed. In this manner,distance indicator 276 displays the length of the path that the workingcatheter traveled from the point when the reset button was pushed to itscurrent position (in mm in the embodiment shown). When save button 274is pushed, the current value displayed in distance indicator 276 issaved and displayed in stored distance indicator 278.

The positional information displayed in distance indicators 268, 270,276, and/or 278 may be used by the user to help in positioning the guidewire or stent/balloon, respectively. For example, the user may know thedistance that the guide wire must travel to reach a particular pointwithin the patient. Thus, for example, the positional informationdisplayed in the various indicators helps the user determine if thedevice has been moved too far, not far enough etc. In addition, knowingthe remaining distance to a particular point may allow a user to planupcoming movements of the device. For example, the user may begin torotate the guide wire some distance before a branch in the patient'svascular system so that the guide wire is properly aligned when the tipof the guide wire reaches the branch.

Guide wire panel 202 includes a guide wire axial step control 216 and aguide wire rotational step control 218. Axial step control 216 includesan advance button 280 and a retract button 282 that, when pushed, causebedside system 12 to advance or retract, respectively, the guide wire bythe step distance associated with button 280 and/or 282. In theembodiment shown, the step distance for both button 280 and 282 is 1 mm.Rotational step control 218 includes a left rotation button 286 and aright rotation button 288 that, when pushed, cause bedside system 12 torotate the guide wire to left or right, respectively, by the angularstep associated with button 286 and/or 288. In the embodiment shown, theangular step distance for both button 286 and 288 is 30 degrees. Inother embodiments, other step distances are associated with the stepcontrols (e.g., 1 mm, 2 mm, 3 mm, etc. axial steps, and 10 degree, 15degree, 20 degree, 40 degree, etc. rotational steps).

Balloon/stent panel 204 includes a balloon/stent axial step control 226.Balloon/stent axial step control 226 includes an advance button 290 anda retract button 292 that, when pushed, cause bedside system 12 toadvance or retract, respectively, the balloon/stent equipped workingcatheter by the step distance associated with button 290 and/or 292. Inthe embodiment shown, the step distance for both button 290 and 292 is 1mm. In other embodiments, the steps associated with the various buttonsneed not be the same. For example, the retract step may be 2 mm and theadvance step may be 1 mm.

System panel 206 includes a bedside system status indicator 294, acontrol indicator 296, a menu button 298, and volume buttons 300.Bedside system status indicator 294 displays information related to thecurrent operating status of bedside system 12. In the embodiment shown,indicator 294 indicates that the drive elements of bedside system 12that impart movement to the guide wire and working catheter are engaged.Indicator 294 may indicate other states of bedside system 12 (e.g.,disengaged, covers open, no power, various error messages, etc.).Control indicator 296 displays information related which controls areactive. As shown, control indicator 296 indicates that the guide wirejoystick control (i.e., an embodiment of guide wire control 23) isactive. Volume buttons 300 allow the user to increase or decrease thevolume of various auditory alerts and signals generated by workstation14. When pushed, menu button 298 causes a drop down menu with variousoptions to be displayed. In one embodiment, the drop down menu displayedby pushing menu button 298 includes a cancel/return button that closesthe drop down menu, a restart application button that restarts thesoftware of workstation 14, an exit/shut down option that powers downcontrols 16 and/or workstation 14, and an “about software” button thatdisplays information related to the version of the software installed onworkstation 14.

GUI 200 includes a device engagement panel 208. Device engagement panel208 includes an engage/disengage control 302 and a bedside systemindicator 304. Engage/disengage control 302, when pushed by the user,causes bedside system 12 to move between a loading position and a useposition. If bedside system 12 is currently in the loading position,pressing control 302 will cause bedside system 12 to move to theengaged, use position. If bedside system 12 is currently in the useposition, pressing control 302 will cause bedside system to move to thedisengaged, loading position. In the loading position, the various drivemechanisms of bedside system 12 are disengaged from the percutaneousdevices (e.g., guide wire, working catheter, etc.) of bedside system 12and the covers are unlocked and opened. In the loading position, newpercutaneous devices may be loaded into bedside system 12 and thecurrent percutaneous devices may be removed. In the use position, thevarious drive mechanisms of bedside system 12 are engaged with thepercutaneous devices of bedside system 12 such that bedside system 12 isable to impart movement to the devices and the covers are closed andlocked.

In the embodiment shown, engage/disengage control 302 includes a lockicon 310. Lock icon 310 provides an indication to the user regardingwhether pushing control 302 will results in engagement or disengagementof bedside system 12 from the percutaneous devices. For example, if lockicon 310 is shown unlocked, as in FIG. 9, pushing control 302 will causebedside system 12 to move from the engaged, use position to thedisengaged, loading position. If lock icon 310 is shown locked (notshown), pushing control 302 will cause bedside system 12 to move fromthe disengaged, loading position to the engaged, use position.

Bedside system indicator 304 provides information related to the currentposition (e.g., loading, use) of bedside system 12. For example,indicator 304 indicates whether bedside system 12 is in the disengaged,loading position or the engaged, use position. In one embodiment,indicator 304 is displayed in one color (e.g., green, blue, etc.) ifbedside system 12 is in the engaged, use position and in a second color(e.g., yellow, red, etc.) if bedside system 12 is in the disengaged,loading position. In the embodiment shown, indicator 304 may alsoinclude a lock icon 306. If lock icon 306 is shown locked, as in FIG. 9,bedside system 12 is currently in the engaged, use position. If lockicon 306 is shown unlocked, bedside system 12 is currently in thedisengaged, loading position.

Indicator 304 also includes a percutaneous devices icon 308 thatprovides an indication of the types of percutaneous devices that bedsidesystem is equipped with. For example, as shown, devices icon 308indicates that bedside system 12 is equipped with a guide wire and astent-equipped working catheter. In other embodiments, devices icon 308may show different and/or more detailed information (e.g., make, model,size, type, etc.) of the devices that bedside system 12 is equippedwith.

The exemplary embodiments illustrated in the figures and describedherein are offered by way of example only. Accordingly, the presentapplication is not limited to a particular embodiment, but extends tovarious modifications that nevertheless fall within the scope of theappended claims and also extends to any combination of the features orelements described herein or set forth in the claims.

The construction and arrangement of the systems and methods as shown inthe various exemplary embodiments are illustrative only. Although only afew embodiments have been described in detail in this disclosure, manymodifications are possible (e.g., variations in sizes, dimensions,structures, shapes and proportions of the various elements, values ofparameters, mounting arrangements, use of materials, colors,orientations, etc.). For example, the position of elements may bereversed or otherwise varied and the nature or number of discreteelements or positions may be altered or varied. All such modificationsare intended to be included within the scope of the present disclosure.

The order or sequence of any process or method steps may be varied orre-sequenced according to alternative embodiments. Also two or moresteps may be performed concurrently or with partial concurrence. Suchvariation will depend on the software and hardware systems chosen and ondesigner choice. All such variations are within the scope of thedisclosure. Likewise, software implementations could be accomplishedwith standard programming techniques with rule based logic and otherlogic to accomplish the various connection steps, processing steps,comparison steps and decision steps. Other substitutions, modifications,changes, and omissions may be made in the design, operating conditionsand arrangement of the exemplary embodiments without departing from thescope of the present disclosure.

1. A remote workstation for the control of percutaneous interventiondevices comprising: a control system configured to remotely andindependently control at least two percutaneous intervention devices,the control system including at least one input device to control thepercutaneous intervention devices, wherein the control system controlsmovement of at least one of the percutaneous intervention devices alongat least two degrees of freedom; and a graphical user interfaceconfigured to display a first set of icons representative of theoperational status of the two percutaneous intervention devices.
 2. Theremote workstation of claim 1 wherein the percutaneous interventiondevices include at least two of a catheter guide wire, a workingcatheter, a guide catheter, a stent, and an angioplasty balloon, andfurther wherein the at least two degrees of freedom include axialmovement and rotation.
 3. The remote workstation of claim 1 wherein thefirst set of icons comprises dynamically displayed icons representativeof the operational status of each of the percutaneous interventiondevices.
 4. The remote workstation of claim 3, further comprising asecond set of icons representative of physiological information of apatient.
 5. The remote workstation of claim 3 wherein operational statusincludes an indication of the current movement speed of the percutaneousdevice.
 6. The remote workstation of claim 1 wherein the first set oficons are displayed in a first color to indicate that a percutaneousintervention device is active and are displayed in a second color toindicate that a percutaneous intervention device is inactive.
 7. Theremote workstation of claim 1 wherein, when a percutaneous device isinactive, the control system is configured hold the inactivepercutaneous device such that the percutaneous device is not permittedto move axially relative to a patient on which a procedure is beingperformed.
 8. The remote workstation of claim 1 wherein the first set oficons provide at least one of a visual indication of movement of thepercutaneous devices and a visual indication of the physical position ofthe at least one input device.
 9. The remote workstation of claim 1wherein the graphical user interface displays an additional iconrepresentative of an amount of contrast agent delivered to a patientduring a medical procedure.
 10. The remote workstation of claim 1wherein the graphical user interface displays an additional icon thatprovides information regarding at least one of the type, manufacturer,size, and material of one of the percutaneous intervention devices beingcontrolled.
 11. The remote workstation of claim 1 wherein the graphicaluser interface displays an additional icon representative of the stateof contraction of the patient's heart, wherein the additional icon is ananimated image of a beating heart that moves to match the state ofcontraction of the patient's heart.
 12. The remote workstation of claim1 further comprising a touch screen, wherein the graphical userinterface displays an additional icon on the touch screen that is agraphical representation of a heart, wherein the additional icon istouched to change a display of a real-time image of the patient's heart.13. The remote workstation of claim 12 wherein the display of thereal-time image of the patient's heart zooms in on a portion of thepatient's heart corresponding to a portion of the additional icon thatis touched.
 14. The remote workstation of claim 1 further comprising ameasurement module configured to allow a user to measure the length of astructure by measuring the distanced moved by a percutaneous device asthe percutaneous device traverses the length of the structure, whereinthe measurement module is configured to cause the display of themeasured length on a display device.
 15. A remote workstation for thecontrol of percutaneous intervention devices located within a first labunit, the remote workstation comprising: a first input device; a secondinput device; a control system configured to remotely control a firstpercutaneous intervention device and a second percutaneous interventiondevice, wherein the first and second input devices are operativelycoupled to the control system, and further wherein the control systemcontrols movement of at least one of the first and second percutaneousintervention devices along at least two degrees of freedom in responseto user input signals received from at least one of the first and secondinput devices; and a graphical user interface configured to display: afirst icon representative of the operational status of the firstpercutaneous intervention device; and a second icon representative ofthe operational status of the second percutaneous intervention device.16. The remote workstation of claim 15 wherein the first input devicemay control either the first percutaneous intervention device or thesecond percutaneous intervention device, wherein the second input devicemay control either the first percutaneous intervention device or thesecond percutaneous intervention device, and further wherein the controlsystem is configured to allow a user to assign the first input device tocontrol either the first percutaneous intervention device or the secondpercutaneous intervention device and allows the user to assign thesecond input device to control the other of the first percutaneousintervention device or the second percutaneous intervention device. 17.The remote workstation of claim 15 wherein the control system remotelycontrols a third percutaneous intervention device and a fourthpercutaneous intervention device, the third and fourth percutaneousintervention devices located within a second lab unit.
 18. The remoteworkstation of claim 15 further comprising a communication systemallowing communication between a user located at the remote workstationand a patient located within the lab unit.
 19. The remote workstation ofclaim 15 wherein the control system allows the user to select themovements of the first and second percutaneous devices that result fromthe user inputs received from the first and second input devices. 20.The remote workstation of claim 15 wherein the graphical user interfacedisplays a third icon representative of a medical problem experienced bythe patient.
 21. The remote workstation of claim 15 wherein thegraphical user interface displays a menu showing different types ofpercutaneous devices that are available in an inventory of the hospital.22. The remote workstation of claim 15 further including a third inputdevice to control at least one of injection of contrast agent andinflation of an angioplasty balloon.
 23. The remote workstation of claim15 wherein the graphical user interface displays a summary reportfollowing the completion of a catheter based medical procedure.
 24. Amethod for measuring the length of a structure during a percutaneousprocedure comprising: aligning a portion of a percutaneous device with afirst end of the structure; moving the percutaneous device so that theportion of the percutaneous device moves from the first end of thestructure to a second end of the structure; aligning the portion of thepercutaneous device with the second end of the structure; measuring thedistance moved by the percutaneous device to move the portion of thepercutaneous device between the first end and the second end of thestructure; and providing information to the user regarding the measureddistanced.
 25. The method of claim 24 wherein the percutaneous device isa guide wire, and the portion is a distal tip of the guide wire, whereinthe structure is a vascular lesion, and further wherein providinginformation includes displaying the measured distance on a display. 26.The method of claim 24 further comprising selecting a secondpercutaneous device based upon the measured distance, and furtherwherein the second percutaneous device is one of a stent and anangioplasty balloon.